Information processing methods, programs, and information processing devices.

Abstract

To drive a vehicle safely at an intersection without traffic lights. [Solution] An information processing method performed by an information processing device, comprising: identifying a first position of a vehicle in a predetermined area based on map data relating to a predetermined area including an intersection without traffic lights and a plurality of roadways intersecting at the intersection; obtaining a second position of one or more other vehicles in the predetermined area; and controlling the driving of the vehicle and the one or more other vehicles at the intersection based on a first priority based on the first position relating to the vehicle driving through the intersection and a second priority based on the second position relating to the vehicle driving through the intersection.

Description

[[Technical Field]]

[0001] The disclosed technology relates to an information processing method, a program, and an information processing apparatus. [[Background Art]]

[0002] In recent years, methods for efficiently traveling with a plurality of vehicles have been proposed. For example, Patent Document 1 discloses a method capable of causing a plurality of autonomous vehicles to travel efficiently when the plurality of autonomous vehicles travel mixed together on the same lane. [[Prior Art Documents]] [[Patent Documents]]

[0003] [[Patent Document 1]] Japanese Patent No. 7060398 [[Summary of the Invention]] [[Problem to be Solved by the Invention]]

[0004] However, there is a demand for a method that can safely travel vehicles at intersections, not only when a plurality of autonomous vehicles travel mixed together on the same lane. Particularly at intersections without traffic signals, it is unclear how a plurality of vehicles that travel at the same timing at the intersection should travel so as to avoid accidents or the like, and thus it cannot be said that safe traffic is ensured.

[0005] In view of such circumstances, the disclosed technology has been made in view of such circumstances, and aims to allow vehicles to travel safely at intersections without traffic signals. [[Means for Solving the Problem]]

[0006] An information processing method performed by an information processing device, which is one aspect of the disclosed technology, comprising: identifying a first position of a vehicle in a predetermined area based on map data relating to a predetermined area including an intersection without traffic lights and a plurality of roadways intersecting at the intersection; obtaining a second position of one or more other vehicles in the predetermined area; and controlling the driving of the vehicle and the one or more other vehicles at the intersection based on a first priority based on the first position relating to the vehicle driving through the intersection and a second priority based on the second position relating to the vehicle driving through the intersection. [Effects of the Invention]

[0007] According to the disclosed technology, vehicles can be driven safely at intersections without traffic lights. [Brief explanation of the drawing]

[0008] [Figure 1] A diagram showing an example of the configuration of an information processing system according to the first embodiment of the disclosed technology. [Figure 2] A diagram showing an example of the configuration of an information processing device according to one embodiment of the disclosed technology. [Figure 3] A diagram illustrating how the disclosed technology obtains a virtually defined lane in which the vehicle is traveling. [Figure 4] A diagram illustrating the priority of disclosed technologies based on roadway attributes and lane attributes. [Figure 5] A diagram showing an example of the configuration of an information processing system according to the second embodiment of the disclosed technology. [Figure 6] A sequence diagram showing an example of information processing according to one embodiment of the disclosed technology. [Modes for carrying out the invention]

[0009] The embodiments of this disclosure will be described in detail below with reference to the attached drawings.

[0010] <First Embodiment> Figure 1 is a diagram showing an example of the configuration of an information processing system 1 according to the first embodiment of the disclosed technology. In the example shown in Figure 1, the information processing system 1 is configured, as an example, to include a vehicle 10, vehicles 20A to 20C, an information processing device 30, and a network N1. As shown in Figure 1, vehicles 10 and 20A to 20C are traveling towards an intersection without traffic lights. This intersection may be on a public road or a private road, and any intersection in which multiple vehicles can enter at the same time may be used.

[0011] Vehicle 10 is, for example, an autonomous vehicle (self-driving car) whose driving is controlled by a computer. Examples of vehicles 10 include, but are not limited to, a private car, a taxi operating on a route requested by a user, a bus transporting multiple users on a predetermined route, and a freight transport vehicle transporting goods on a predetermined route. Vehicle 10 does not necessarily have to be a vehicle without passengers. For example, employees responsible for customer service, employees responsible for ensuring the safety of vehicle 10, and employees responsible for loading and unloading cargo may be on board. Furthermore, there may be one or more vehicles 10.

[0012] Vehicle 10 may be a vehicle that temporarily operates autonomously during travel. For example, vehicle 10 may be a vehicle that operates autonomously in principle, but is driven by a passenger depending on the situation.

[0013] Vehicle 10 does not necessarily have to be an autonomous vehicle. For example, vehicle 10 may be a vehicle that is always driven by a person.

[0014] In the example shown in Figure 1, vehicle 10 is traveling in lane L1 of a roadway that includes lanes L1 and L2 and connects to an intersection without traffic lights. Vehicle 10 is traveling in lane L1 toward the intersection without traffic lights.

[0015] Vehicles 20A to 20C are vehicles traveling on roadways connected to an intersection without traffic signals. Vehicles 20A to 20C are, for example, vehicles similar to the aforementioned vehicle 10, and may be autonomous vehicles controlled by a computer, or may be vehicles driven by a person constantly or temporarily.

[0016] In the example shown in FIG. 1, the vehicle 20A is traveling on the lane L3 of a roadway connected to an intersection without traffic signals, the roadway including the lane L3. The vehicle 20A is traveling along the lane L3 toward the intersection without traffic signals.

[0017] The vehicle 20B is traveling on the lane L4 of a roadway connected to an intersection without traffic signals, the roadway including the lane L4 and the lane L5. The vehicle 20B is traveling along the lane L4 toward the intersection without traffic signals.

[0018] The vehicle 20C is traveling on the lane L6 of a roadway connected to an intersection without traffic signals, the roadway including the lane L6. The vehicle 20C is traveling along the lane L6 toward the intersection without traffic signals.

[0019] In the description of the present disclosure, when vehicles 20A to 20C are not distinguished, they are also referred to as vehicles 20. The number of vehicles 20 is not limited to three as shown in FIG. 1, and may be one, or may be a plural number other than three.

[0020] The information processing device 30 is, for example, a server. The information processing device 30 (hereinafter also referred to as "server 30") controls the traveling of the vehicle 10 and the vehicles 20. The server 30 controls the traveling of the vehicle 10 and the vehicles 20 so that, for example, the vehicle 10 and the vehicles 20 can safely enter the intersection without traffic signals.

[0021] The server 30 controls the traveling of the vehicle 10 and the vehicles 20 by transmitting travel instruction information related to travel instructions to the vehicle 10 and the vehicles 20 via, for example, the network N1. A detailed description of the travel control of the vehicle 10 and the vehicles 20 by the server 30 will be given later.

[0022] Network N1 is an open network where, for example, vehicles 10 and 20 and server 30 can communicate with each other. Network N1 is not limited to, but as an example, 4G ( 4 th G (eneration) and LTE ( L ong T erm E This is implemented using mobile communication services such as (evolution).

[0023] Server 30 may store predetermined map data. For example, Server 30 may store three-dimensional high-precision map data (hereinafter referred to as "HD") relating to the area in which vehicles 10 and 20 travel. H igh D It may also be called an "efinition map". The HD map may be stored in a memory device installed in vehicle 10 and vehicle 20.

[0024] Vehicles 10 and 20 may, for example, autonomously drive within the area indicated by an HD map. Alternatively, the driver of vehicle 10 or vehicle 20 may drive the vehicle while referring to the HD map displayed on a display device (e.g., a monitor) installed in vehicle 10 or vehicle 20.

[0025] HD maps are high-precision 3D map data used, for example, in autonomous driving. Specifically, this map data is a type of dynamic map data that is provided in real time with more dynamic information added, such as information on surrounding vehicles and traffic information.

[0026] The HD maps used in this embodiment are classified, for example, into static information, quasi-static information, quasi-dynamic information, and dynamic information.

[0027] Static information, for example, is high-precision 3D base map data (high-precision 3D map data) that includes road surface information, lane information, 3D structures, etc., and is composed of 3D position coordinates and linear vector data that represent features. Quasi-static information, quasi-dynamic information, and dynamic information are dynamic data that changes moment by moment and are superimposed on static information based on position information. Note that static information, quasi-static information, quasi-dynamic information, and dynamic information are all included, and each type of information is related to the others.

[0028] Semi-static information includes traffic regulation information, road construction information, and wide-area weather information. Semi-dynamic information includes accident information, congestion information, and local weather information. Dynamic information is ITS ( I ntelligent T ransport S This includes system information, as well as information on surrounding vehicles, pedestrians, and traffic signals.

[0029] <Configuration of the information processing device> Figure 2 shows an example of the configuration of a server 30 according to one embodiment of the disclosed technology. The server 30 has one or more processors (CPU: C entral P rocessing U The system includes a 310 (nit), one or more network communication interfaces 320, a storage device 330, a user interface 340, and one or more communication buses 350 for interconnecting these components. The user interface 340 may be connected via a network.

[0030] The storage device 330 is, for example, a high-speed random-access memory such as DRAM, SRAM, or other random-access solid-state memory. Alternatively, the storage device 330 may be a non-volatile memory such as one or more magnetic disk storage devices, optical disk storage devices, flash memory devices, or other non-volatile solid-state memory devices. Alternatively, the storage device 330 may be a computer-readable non-temporary recording medium.

[0031] Another example of the storage device 330 may be one or more storage devices located remotely from the processor 310. In one embodiment, the storage device 330 stores programs, modules, and data structures, or subsets thereof, executed by the processor 310.

[0032] The storage device 330 stores data used by the information processing system 1. For example, the storage device 330 stores an HD map. The storage device 330 may be either a storage device built into the server 30 or an external storage device.

[0033] The processor 310 that executes the processing according to this embodiment will now be described. The processor 310 controls the processing to be performed by the information processing unit 312 by executing a program stored in the storage device 330.

[0034] The information processing unit 312 includes, for example, an acquisition unit 313, a specification unit 314, and a vehicle control unit 315.

[0035] The acquisition unit 313 acquires location information relating to the location where the vehicle 10 is traveling from the vehicle 10. For example, the acquisition unit 313 acquires location information relating to the location where the vehicle 10 is traveling from the vehicle 10 via the network N1.

[0036] In this case, the vehicle 10 determines its own position using a predetermined technique for determining its own position. The vehicle 10 determines its own position based on sensor information acquired by sensors mounted on the vehicle 10 (for example, imaging devices such as cameras, and distance measuring devices such as radar capable of measuring the distance to surrounding objects).

[0037] Vehicle 10 identifies its position on the HD map based on acquired sensor information and the HD map. Vehicle 10 identifies its position on the HD map and the roadway on which it is traveling (in the example shown in Figure 1, the roadway includes lanes L1 and L2).

[0038] Vehicle 10 transmits location information regarding its identified location to server 30 via network N1. As a result, the acquisition unit 313 of server 30 can acquire location information regarding the location where vehicle 10 is traveling from vehicle 10.

[0039] The identification unit 314 identifies the position of the vehicle 10 in the area (hereinafter also referred to as the "first position") based on map data relating to the area including the intersection without traffic lights shown in Figure 1 and the multiple roadways that intersect at the intersection. This area may be, for example, an area with a radius of a predetermined m (e.g., 50 m) from a predetermined position at the intersection. The identification unit 314 identifies, for example, a position on the HD map stored in the storage device 330 that corresponds to the position indicated by the position information acquired by the acquisition unit 313. More specifically, the identification unit 314 identifies the roadway on the HD map corresponding to the roadway (including lane L1 and lane L2) indicated by the position information acquired by the acquisition unit 313 as the first position.

[0040] The acquisition unit 313 acquires the position (hereinafter also referred to as the "second position") of one or more vehicles 20 that are located in an area including the intersection without traffic lights shown in Figure 1 and the multiple roadways that intersect at that intersection. The acquisition unit 313 acquires, for example, the roadway on which each of the vehicles 20A to 20C shown in Figure 1 is traveling as the second position from the vehicles 20A to 20C via the network N1. The vehicles 20 are vehicles capable of transmitting their own vehicle position information to the server 30. For example, if the acquisition unit 313 acquires the position information of other vehicles within a predetermined time after identifying the first position, it may determine that these vehicles are attempting to enter the intersection at the same time and perform driving control for these vehicles. On the other hand, if the acquisition unit 313 does not acquire the position information of other vehicles within a predetermined time after identifying the first position, it may allow vehicle 10 to enter the intersection because there are no other vehicles around the intersection. Furthermore, the acquisition unit 313 may be configured to perform driving control for vehicles if it acquires multiple location information points within a predetermined area for the same intersection at the same time.

[0041] The acquisition unit 213 may acquire a second position from sensors installed around the intersection (for example, imaging devices such as cameras, and distance measuring devices such as radar capable of measuring the distance between the vehicle 20 and the sensors). These sensors are installed, for example, on buildings, signs, and other structures located near the intersection.

[0042] The acquisition unit 213 manages the vehicle 20 using the FMS (Fleet Management System): F leet M management S A second position may be obtained from an information processing device (not shown) that controls the system. The FMS may be managed by a predetermined operator. The FMS may be managed, for example, by the operator that manages vehicle 20. The FMS may be managed, for example, by the operator that manages vehicle 10. The FMS may be managed by an operator different from the operator that manages vehicle 10 and the operator that manages vehicle 20.

[0043] The vehicle control unit 315 controls the driving of vehicle 10 and vehicle 20 at the intersection based on a priority based on a first position (hereinafter also referred to as "first priority") which is a first priority for vehicles to drive through the intersection, and a priority based on a second position (hereinafter also referred to as "second priority") which is a second priority for vehicles to drive through the intersection.

[0044] The roadways connected to intersections without traffic lights on the HD map stored in the storage device 330 may have a priority assigned to them for vehicles when traveling through the intersection. The vehicle control unit 315 controls the travel of vehicle 10 and each vehicle 20 at the intersection based on the first priority of the roadway corresponding to the first position of vehicle 10 and the second priority of each roadway corresponding to the second position of each vehicle 20.

[0045] For example, in an HD map of an area including an intersection without traffic lights and multiple roadways intersecting at that intersection, as shown in Figure 1, suppose the priority associated with the roadway containing lanes L1 and L2 is "10", the priority associated with the roadway containing lanes L4 and L5 is "20", the priority associated with the roadway containing lane L3 is "30", and the priority associated with the roadway containing lane L6 is "40". In this case, the vehicle control unit 315 determines the driving order for vehicles traveling on the roadway in order of decreasing priority, and controls the driving in the order of vehicle 10, vehicle 20B, vehicle 20A, and vehicle 20C.

[0046] The server 30 may receive driving mode information (for example, autonomous driving mode or manual driving mode) from the vehicles 10 and 20. The vehicle control unit 315 may perform driving control on the vehicles 10 and 20 based on the driving mode information.

[0047] For example, if the server 30 receives driving mode information regarding the autonomous driving mode from a vehicle 10 that is autonomously driving (at least when passing through an intersection), the vehicle control unit 315 transmits driving instruction information regarding the instruction to pass through the intersection autonomously to the vehicle 10 via the network N1.

[0048] Furthermore, if the server 30 receives driving mode information related to manual driving mode from a human-driven vehicle 10 (at least a human-driven vehicle 10 when passing through an intersection), the vehicle control unit 315 may instruct the driver to pass through the intersection. This instruction may be output to an output device installed in the vehicle 10. The driver of the vehicle 10 drives the vehicle 10 to pass through the intersection, for example, by following instructions displayed on a monitor, which is an output device. The driver of the vehicle 10 drives the vehicle 10 to pass through the intersection, for example, by following instructions voice-output to a speaker, which is an output device.

[0049] Next, the vehicle control unit 315 transmits driving instruction information via the network N1 to the vehicle 20B, then the vehicle 20A, and then the vehicle 20C in that order, regarding driving instructions to pass through the intersection.

[0050] For example, if the server 30 receives driving mode information regarding the autonomous driving mode from a vehicle 20 that is autonomously driving (at least when passing through an intersection), the vehicle control unit 315 transmits driving instruction information regarding the instruction to pass through the intersection autonomously to the vehicle 20 via the network N1.

[0051] Furthermore, if the server 30 receives driving mode information related to the manual driving mode from a human-driven vehicle 20 (at least a human-driven vehicle 20 when passing through an intersection), the vehicle control unit 315 may instruct the driver to pass through the intersection. This instruction may be output to an output device mounted on the vehicle 20. The driver of the vehicle 20 drives the vehicle 10 to pass through the intersection, for example, according to instructions displayed on a monitor which is an output device. The driver of the vehicle 20 drives the vehicle 10 to pass through the intersection, for example, according to instructions voice-output to a speaker which is an output device.

[0052] Priority for each roadway is determined by predetermined conditions for determining priority. Priority may be determined, for example, based on the volume of traffic on the roadway. Priority may be determined dynamically based on quasi-static information including traffic regulation information, road construction information, and wide-area weather information; quasi-dynamic information including accident information, congestion information, and narrow-area weather information; or dynamic information including surrounding vehicles, pedestrians, and signal information. Priority may be determined, for example, based on the number of lanes included in the roadway. Priority roads may be determined, for example, based on the number of buildings adjacent to the roadway. Priority may be determined, for example, based on the direction from the roadway to the intersection. The predetermined conditions for determining priority are not limited to these examples, and are not particularly limited as long as priority can be determined.

[0053] The priority associated with the HD map stored in the storage device 330 in Figure 2 may be set by input from a designated user. The priority may be set, for example, by a user managing the server 30, based on predetermined conditions for determining the priority. Alternatively, the priority associated with the HD map stored in the storage device 330 may be set by a process performed by the server 30 to calculate the priority. The server 30 may associate a priority with the HD map based on predetermined conditions for determining the priority.

[0054] Through the above process, the server 30 can control the driving of vehicles 10 and 20 at intersections without traffic lights based on the first and second priorities. As a result, vehicles 10 and 20 can safely drive through intersections without traffic lights.

[0055] The acquisition unit 313 may acquire location information relating to the lane in which the vehicle 10 is traveling from the vehicle 10. For example, the acquisition unit 313 acquires location information relating to the lane in which the vehicle 10 is traveling from the vehicle 10 via the network N1.

[0056] In this case, the vehicle 10 uses a predetermined technique to determine its own position to identify its location on the HD map and the lane it is traveling in (in the example shown in Figure 1, lane L1). The vehicle 10 transmits the location information regarding the identified lane to the server 30 via the network N1. As a result, the acquisition unit 313 of the server 30 can acquire the location information regarding the lane the vehicle 10 is traveling in from the vehicle 10.

[0057] The identification unit 314 may, based on map data (e.g., an HD map), identify the lane in which the vehicle 10 is traveling, from one or more lanes on one of the roadways that intersect at an intersection without traffic lights. For example, the identification unit 314 identifies lane L1 on the HD map, which corresponds to the lane (lane L1) indicated by the position information acquired by the acquisition unit 313, as the first position.

[0058] The acquisition unit 313 may acquire position information relating to the lane in which the vehicle 20 is traveling. The acquisition unit 313 may also acquire the lane in which each of the vehicles 20A to 20C shown in Figure 1 is traveling as a second position via the network N1.

[0059] The vehicle control unit 315 may control the driving of vehicle 10 and vehicle 20 at the intersection based on a first priority based on a first position (lane L1 on the HD map) and a second priority based on a second position (lane on the HD map corresponding to the lane in which vehicle 20 is traveling).

[0060] Each lane on the HD map stored in the storage device 330, through which a vehicle travels towards an intersection, may be associated with a priority for the vehicle when traveling through that intersection. The vehicle control unit 315 may control the driving of vehicle 10 and each vehicle 20 at the intersection based on the first priority of the lane corresponding to the first position of vehicle 10 and the second priority of each lane corresponding to the second position of each vehicle 20.

[0061] For example, in an HD map of an area including an intersection without traffic lights and multiple roadways intersecting at that intersection, as shown in Figure 1, suppose the priority associated with lane L1 is "10", the priority associated with lane L4 is "20", the priority associated with lane L3 is "30", and the priority associated with lane L6 is "40". In this case, the vehicle control unit 315 determines the driving order for vehicles traveling in the lanes in order of decreasing priority, and controls the driving in the order of vehicle 10, vehicle 20B, vehicle 20A, and vehicle 20C. The vehicle control unit 315 transmits driving instruction information via network N1, for example, instructing vehicles 10, vehicle 20B, vehicle 20A, and vehicle 20C to pass through the intersection in that order.

[0062] Priority for each lane is determined by predetermined conditions for determining priority. Priority may be determined, for example, based on the type of lane (straight lane, left-turn lane, and right-turn lane, etc.). Priority may be determined dynamically based on quasi-static information including traffic regulation information, road construction information, and wide-area weather information; quasi-dynamic information including accident information, congestion information, and local weather information; or dynamic information including surrounding vehicles, pedestrians, and signal information. Priority may also be determined, for example, based on the traffic volume of the lane. The predetermined conditions for determining priority are not limited to these examples, and are not particularly limited as long as priority can be determined.

[0063] Through the above process, the server 30 can control the driving of vehicles 10 and 20 on a lane-by-lane basis at intersections without traffic lights. As a result, vehicles 10 and 20 can drive more safely at intersections without traffic lights.

[0064] The acquisition unit 313 may acquire one or more lanes virtually set up for the intersection, in which a vehicle other than vehicle 10 is traveling.

[0065] Figure 3 is a diagram illustrating the acquisition of a virtually defined lane on which a vehicle (a vehicle different from vehicle 10) is traveling. In the example shown in Figure 3, in addition to vehicles 10 and 20A-20C traveling on a roadway leading to an intersection without traffic lights, vehicle 20D is also traveling within the intersection. In the example shown in Figure 3, a virtual lane VL is defined for the intersection on the HD map stored in the storage device 330 of server 30. Note that one or more virtual lanes other than lane VL (not shown) may be defined for the intersection on the HD map.

[0066] The acquisition unit 313 acquires, for example, the virtual lane VL in which the vehicle 20D is traveling as the second position of the vehicle 20D.

[0067] The virtual lanes set for intersections without traffic lights on the HD map stored in the storage device 330 may be associated with priority when driving through the intersection. The vehicle control unit 315 may control the driving of vehicle 10 and vehicles 20A to 20D at the intersection based on the first priority of the lane corresponding to the first position of vehicle 10, the second priority of each lane corresponding to the second positions of vehicles 20A to 20C, and the second priority of the virtual lane VL corresponding to the second position of vehicle 20D.

[0068] For example, in an HD map of an area including an intersection without traffic lights and multiple roadways intersecting at that intersection, as shown in Figure 1, suppose the priority associated with virtual lane VL is "1", the priority associated with lane L1 is "10", the priority associated with lane L4 is "20", the priority associated with lane L3 is "30", and the priority associated with lane L6 is "40". In this case, the driving order for vehicles driving in the lanes and vehicles driving in the virtual lanes is determined in descending order of priority numbers, and the vehicle control unit 315 performs driving control in the order of vehicle 20D, vehicle 10, vehicle 20B, vehicle 20A, and vehicle 20C. The vehicle control unit 315 transmits driving instruction information via network N1, for example, to pass through the intersection in the order of vehicle 20D, vehicle 10, vehicle 20B, vehicle 20A, and vehicle 20C.

[0069] As described above, by setting a higher priority for a virtual lane within an intersection without traffic lights than for a lane included in the roadway connecting to that intersection (for example, a lower priority number indicates a higher priority), vehicle 20D, which is in the intersection, can be controlled to have priority over other vehicles. As a result, after vehicle 20D has passed through the intersection, vehicles 10 and 20A-20C can safely pass through the intersection.

[0070] Through the above process, the server 30 can also control vehicles that have already entered an intersection without traffic lights. As a result, after the vehicles that have already entered the intersection without traffic lights have passed through the intersection, vehicles 10 and 20 can safely travel through the intersection.

[0071] The first priority may include a priority based on the attributes of the roadway to which the first position belongs (hereinafter also referred to as the "first roadway priority") and a priority based on the attributes of the lane to which the first position belongs (hereinafter also referred to as the "first lane priority").

[0072] The second priority may include a priority based on the attributes of the roadway to which the second position belongs (hereinafter also referred to as the "second roadway priority") and a priority based on the attributes of the lane to which the second position belongs (hereinafter also referred to as the "second lane priority").

[0073] Figure 4 illustrates the priority based on roadway attributes and lane attributes. In the example shown in Figure 4, roadway attribute-based priority and lane attribute-based priority are associated with lanes L1 to L6 on the HD map.

[0074] In the example shown in Figure 4, lanes L1, L2, L4, and L5 are associated with a priority of "10" based on the attributes of the roadway. Additionally, lane L1 is associated with a priority of "2" based on the attributes of the lane. Lane L2 is associated with a priority of "3" based on the attributes of the lane. Lane L4 is associated with a priority of "4" based on the attributes of the lane. Lane L5 is associated with a priority of "2" based on the attributes of the lane.

[0075] In the example shown in Figure 4, lanes L3 and L6 are associated with a priority of "20" based on the attributes of the roadway. Additionally, lane L3 is associated with a priority of "2" based on the attributes of the lane. Furthermore, lane L6 is associated with a priority of "3" based on the attributes of the lane.

[0076] Examples of roadway attributes include the volume of traffic on the roadway, the number of lanes the roadway has, and the number of buildings adjacent to the roadway. Examples of lane attributes include the volume of traffic on the lane and the type of lane (straight lane, left-turn lane, right-turn lane, etc.). Priorities based on roadway attributes and lane attributes may be dynamically set based on quasi-static information including traffic regulation information, road construction information, and wide-area weather information; quasi-dynamic information including accident information, congestion information, and local weather information; or dynamic information including surrounding vehicles, pedestrians, and signal information.

[0077] As shown in Figure 4, when priority based on roadway attributes and priority based on lane attributes are associated with lanes L1-L6 on the HD map, the priority for the first roadway is "10". The priority for the first lane is "2".

[0078] The priority for vehicle 20A on the second lane, as shown in Figure 1, is "20". The priority for vehicle 20A on the second lane is "2".

[0079] The priority for vehicle 20B on the second lane, as shown in Figure 1, is "10". The priority for vehicle 20B on the second lane is "4".

[0080] The priority for vehicle 20C on the second lane, as shown in Figure 1, is "20". The priority for vehicle 20C on the second lane is "3".

[0081] The vehicle control unit 315 shown in Figure 2 may control the driving of vehicle 10 at an intersection without traffic lights based on the first roadway priority and the first lane priority. The vehicle control unit 315 may also control the driving of vehicle 20 at an intersection without traffic lights based on the second roadway priority and the second lane priority.

[0082] The vehicle control unit 315 determines, for example, which vehicle from among vehicle 10 and vehicles 20A to 20C should pass through the intersection first, based on the priority of the first roadway and the priority of the second roadway.

[0083] More specifically, since the first roadway priority for vehicle 10 is "10", the second roadway priority for vehicle 20A is "20", the second roadway priority for vehicle 20B is "10", and the second roadway priority for vehicle 20C is "20", the vehicle control unit 315 decides to allow vehicles 10 and 20B to pass through the intersection before vehicles 20A and 20C.

[0084] Next, the vehicle control unit 315 determines which of the vehicles, vehicle 10 and vehicle 20B, should pass through the intersection first, based on the priority given to the first lane for vehicle 10 and the priority given to the second lane for vehicle 20B.

[0085] More specifically, since the priority of the first lane for vehicle 10 is "2" and the priority of the second lane for vehicle 20B is "4", the vehicle control unit 315 decides to allow vehicle 10 to pass through the intersection before vehicle 20B.

[0086] Furthermore, the vehicle control unit 315 determines which of the vehicles 20A and 20C should pass through the intersection first, based on the second lane priority for vehicle 20A and the second lane priority for vehicle 20C.

[0087] More specifically, since the priority of the second lane for vehicle 20A is "2" and the priority of the second lane for vehicle 20C is "3", the vehicle control unit 315 decides to allow vehicle 20A to pass through the intersection before vehicle 20C.

[0088] Through the above processing, server 30 can control the driving of vehicle 10 at intersections without traffic lights based on the priority of the first roadway and the priority of the first lane. Server 30 can also control the driving of vehicle 20 at intersections without traffic lights based on the priority of the second roadway and the priority of the second lane. As a result, vehicles 10 and 20 can safely drive through intersections without traffic lights in a more appropriate order.

[0089] The vehicle control unit 315 may calculate a first score for controlling the vehicle 10's movement at an intersection without traffic lights, based on the first roadway priority and the first lane priority. In the example shown in Figure 4, the vehicle control unit 315 calculates "12" as the first score, which is the sum of the first roadway priority of "10" and the first lane priority of "2". Note that the first score is not limited to the sum of the first roadway priority and the first lane priority; any method of calculation is acceptable as long as a first score can be calculated. For example, the first score may be the product of the first roadway priority and the first lane priority.

[0090] The vehicle control unit 315 may calculate a second score for controlling the vehicle 20's driving at an intersection without traffic lights, based on the second roadway priority and the second lane priority. For example, the vehicle control unit 315 may calculate the second score as the sum of the second roadway priority and the second lane priority. However, the second score is not limited to the sum of the second roadway priority and the second lane priority; any method of calculation is acceptable as long as a second score can be calculated. For example, the second score may be the product of the second roadway priority and the second lane priority.

[0091] In the example shown in Figure 4, the vehicle control unit 315 calculates a second score for vehicle 20A, which is the sum of the second roadway priority of "20" and the second lane priority of "2" for vehicle 20A, resulting in "22".

[0092] In the example shown in Figure 4, the vehicle control unit 315 calculates a second score for vehicle 20B, which is the sum of the second roadway priority of "10" and the second lane priority of "4" for vehicle 20B, resulting in "14".

[0093] In the example shown in Figure 4, the vehicle control unit 315 calculates a second score for vehicle 20C, which is the sum of "20" for the second roadway priority and "3" for the second lane priority related to vehicle 20C, resulting in "23".

[0094] The vehicle control unit 315 may control the driving of vehicle 10 and vehicle 20 at an intersection without traffic lights based on the first score and the second score. For example, if the first score for vehicle 10 is "12", the second score for vehicle 20A is "22", the second score for vehicle 20B is "14", and the second score for vehicle 20C is "23", the vehicle control unit 315 will determine the driving order for vehicles 10 and 20 in order of the lowest priority number, and will transmit driving instruction information to pass through the intersection in the order of vehicle 10, vehicle 20B, vehicle 20A, and vehicle 20C.

[0095] Through the above processing, the server 30 can control the driving of vehicles 10 and 20 at intersections without traffic lights based on the first and second scores. As a result, vehicles 10 and 20 can safely drive through intersections without traffic lights in a more appropriate order that comprehensively considers priority based on the roadway and priority based on the lane.

[0096] As shown in Figure 1, Server 30 is a server independent of Vehicle 10 and Vehicle 20. Server 30 may also be a server that manages the location of Vehicle 10 and Vehicle 20.

[0097] This allows users of server 30 to manage vehicles 10 and 20 from a location away from them. Furthermore, server 30 can function as a control server for managing the movement of multiple vehicles.

[0098] <Second Embodiment> Figure 5 shows an example of the configuration of the information processing system 2 according to the second embodiment of the disclosed technology. In the second embodiment, the information processing device 30 is mounted on the vehicle 10.

[0099] The information processing device 30 controls the vehicle 10's movement. The vehicle 10, equipped with the information processing device 30, controls the vehicle 20's movement by transmitting movement instruction information to the vehicle 20 via the network N2.

[0100] Network N2 is, for example, a communication network that enables communication between vehicle 10 and vehicle 20, both equipped with information processing devices 30. Network N2 can be, for example, a short-range wireless communication network, a closed network, the internet, a mobile phone network, or a LAN. L ocal A rea N This can be achieved through networks (etwork), or networks combining these elements.

[0101] As described above, by equipping the vehicle 10 with the information processing device 30, when the vehicle 10 is about to pass through an intersection without traffic lights, it can perform driving control for both the vehicle itself and the vehicle 20 that is about to pass through the intersection, in order to ensure safe passage through the intersection.

[0102] <Operation> Next, the operation according to the embodiment will be described. Figure 6 is a sequence diagram showing an example of information processing according to this embodiment. The sequence diagram shown in Figure 6 is an example in which a priority score is calculated and driving control is performed based on this score.

[0103] In step S11, the vehicle 10 transmits its location information to the server 30. This location information is acquired by the acquisition unit 313 of the server 30.

[0104] In step S12, the identification unit 314 of the server 30 identifies the first position of the vehicle 10 in a predetermined area based on map data (e.g., an HD map) relating to a predetermined area including an intersection without traffic lights and multiple roadways intersecting at that intersection. The identification unit 314 identifies the first position as a position on the HD map stored in the storage device 330 of the server 30 that corresponds to the position indicated by the position information acquired by the acquisition unit 313.

[0105] In step S13, vehicle 20 transmits its location information to server 30. This location information is acquired by the acquisition unit 313 of server 30. For example, if server 30 acquires location information of other vehicles within a predetermined time after identifying the first location, it proceeds to step S14. However, if it does not acquire location information of other vehicles within the predetermined time, it may allow vehicle 10 to enter the intersection because there are no other vehicles around the intersection.

[0106] In step S14, the vehicle control unit 315 of the server 30 calculates a first score based on the first roadway priority and the first lane priority.

[0107] In step S15, the vehicle control unit 315 of the server 30 calculates a second score based on the second roadway priority and the second lane priority.

[0108] In steps S16 and S17, the vehicle control unit 315 of the server 30 controls the driving of vehicle 10 and vehicle 20 at an intersection without traffic lights based on the first score and the second score. For example, in step S16, the vehicle control unit 315 controls the driving of vehicle 20. The vehicle control unit 315 transmits, for example, driving instruction information to vehicle 20 regarding a driving instruction to pass through an intersection without traffic lights. For example, in step S17, the vehicle control unit 315 controls the driving of vehicle 10. The vehicle control unit 315 transmits, for example, driving instruction information to vehicle 10 regarding a driving instruction to pass through an intersection without traffic lights. Note that the processing in step S17 may be performed before the processing in step S16. Each vehicle drives through the intersection based on the acquired driving instruction information.

[0109] <Variation> The above embodiments are illustrative examples for explaining the disclosed technology and are not intended to limit the disclosed technology to these embodiments only. Furthermore, the disclosed technology can be modified in various ways without departing from its essence. Moreover, those skilled in the art can adopt embodiments in which each of the elements described above is replaced with equivalent ones, and such embodiments are also included within the scope of the disclosed technology.

[0110] In the above embodiment, the vehicle 10 was described as determining its own position based on sensor information acquired by sensors mounted on the vehicle 10 and transmitting position information relating to the determined position to the server 30, but the embodiment is not limited to this. The vehicle 10 may also transmit the acquired sensor information to the server 30. In this case, the acquisition unit 313 of the server 30 acquires the sensor information. The identification unit 314 of the server 30 may determine the position of the vehicle 10 on the HD map based on the acquired sensor information and the HD map.

[0111] In the embodiments described above, intersections without traffic lights were explained using examples of intersections on public roads or private roads, but the disclosed technology may also be applied to intersections in a predetermined area without traffic regulations. For example, the disclosed technology may also be applied to intersections in airports or ports. In this case, the vehicles subject to driving control by server 30 may be vehicles operating at airports or ports.

[0112] In the embodiments described above, a four-way intersection was used as an example, as shown in Figures 1, 3, 4, and 5, but the invention is not limited to this. The disclosed technology may also be applied to intersections other than four-way intersections. For example, the disclosed technology may also be applied to T-junctions, Y-junctions, and other intersections where multiple roads intersect.

[0113] Furthermore, although the above embodiment described the use of an HD map as an example of predetermined map data, the predetermined map data is not limited to an HD map. For example, an SD map in which roadways and / or lanes can be distinguished. S standard D The technology disclosed can also be applied to the (efinition) map, as with the embodiments described above. [Explanation of Symbols]

[0114] 1...Information processing system, 2...Information processing system, 10...Vehicle, 20A~20D...Vehicle, 30...Information processing device, 310...Processor, 312...Information processing unit, 313...Acquisition unit, 314...Specification unit, 315...Vehicle control unit, 320...Network communication interface, 330...Storage device, 340...User interface, 350...Communication bus, L1~L6...Lane, N1~N2...Network, VL...Virtual lane

Claims

1. An information processing method performed by an information processing device, Based on map data relating to a predetermined area including an intersection without traffic lights and multiple roadways intersecting at the said intersection, the first position of the vehicle within the said predetermined area is determined. To obtain the second position of one or more other vehicles located in the predetermined area within the predetermined area, Controlling the movement of the vehicle and one or more other vehicles at the intersection based on a first priority based on the first position relating to the vehicle traveling through the intersection, and a second priority based on the second position relating to the vehicle traveling through the intersection, An information processing method that performs the following.

2. The aforementioned determination means that Based on the aforementioned map data, this includes identifying one or more lanes on one of the aforementioned roadways in which the vehicle is traveling, To obtain the above means, The information processing method according to claim 1, which includes obtaining the lane in which the other vehicle is traveling within the predetermined area of ​​lanes.

3. To obtain the above means, The information processing method according to claim 1 or 2, which includes obtaining the lane in which the other vehicle is traveling from among one or more lanes virtually set up for the intersection.

4. The first priority includes a first roadway priority based on the attributes of the roadway to which the first position belongs, and a first lane priority based on the attributes of the lane to which the first position belongs. The second priority includes a second roadway priority based on the attributes of the roadway to which the second position belongs, and a second lane priority based on the attributes of the lane to which the second position belongs. The aforementioned control means Based on the first roadway priority and the first lane priority, control the vehicle's movement at the intersection. Based on the second roadway priority and the second lane priority, control the movement of one or more other vehicles at the intersection. The information processing method according to claim 1, including the following:

5. The aforementioned control means Based on the first roadway priority and the first lane priority, a first score is calculated for controlling the vehicle's movement at the intersection. Based on the second roadway priority and the second lane priority, a second score is calculated for controlling the movement of one or more other vehicles at the intersection; Based on the first score and the second score, control the driving of the vehicle and the one or more other vehicles at the intersection, The information processing method according to claim 4, including the following:

6. The aforementioned information processing device is The information processing method according to claim 1, which includes an information processing device for managing the position of the aforementioned vehicle and the position of the other vehicle.

7. The aforementioned information processing device is The information processing method according to claim 1, which includes an information processing device mounted on the vehicle.

8. In an information processing device, Based on map data relating to a predetermined area including an intersection without traffic lights and multiple roadways intersecting at the said intersection, the first position of the vehicle within the said predetermined area is determined. To obtain the second position of one or more other vehicles located in the predetermined area within the predetermined area, Controlling the movement of the vehicle and one or more other vehicles at the intersection based on a first priority based on the first position relating to the vehicle traveling through the intersection, and a second priority based on the second position relating to the vehicle traveling through the intersection, A program that executes the command.

9. An information processing device including a processor, The aforementioned processor, Based on map data relating to a predetermined area including an intersection without traffic lights and multiple roadways intersecting at the said intersection, the first position of the vehicle within the said predetermined area is determined. To obtain the second position of one or more other vehicles located in the predetermined area within the predetermined area, Controlling the movement of the vehicle and one or more other vehicles at the intersection based on a first priority based on the first position relating to the vehicle traveling through the intersection, and a second priority based on the second position relating to the vehicle traveling through the intersection, An information processing device that performs the following actions.

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